Disclosed is a vehicle control device (1) capable of improving reliability of vehicle control. Specifically, the vehicle control device (1) that controls a vehicle along a target path comprises a target-path setting unit (11) that sets the target path of the vehicle; a clothoid-section setting unit (12) that sets a clothoid section of which curvature change rate is fixed on the target path; an elapsed-time computing unit (13) that computes the time elapsed since the vehicle enters the clothoid section; and a vehicle-control computing unit (15) that computes steering-angle command values used for steering control of the vehicle on the basis of the elapsed time computed by the elapsed-time computing unit (13) and the target path set by the target-path setting unit (11) that controls the vehicle in the clothoid section on the basis of the elapsed time computed by the elapsed-time computing unit (13).